i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

0.17.4 (added optional imu input topic to stereo odometry when a vio approach is selected, see Odom/Strategy parameter)

Browse Source
This commit is contained in:
matlabbe
2018-07-23 15:58:51 -04:00
parent 08972a5a32
commit 7a648a83d4
8 changed files with 151 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/rtabmap.launch
+4 -2
View File
@@ -91,7 +91,8 @@
<arg name="odom_sensor_sync" default="false"/>
<arg name="odom_guess_frame_id" default=""/>
<arg name="odom_guess_min_translation" default="0"/>
<arg name="odom_guess_min_rotation" default="0"/>
<arg name="odom_guess_min_rotation" default="0"/>
<arg name="imu_topic" default="/imu"/> <!-- only used with VIO approaches -->
<arg name="subscribe_user_data" default="false"/> <!-- user data synchronized subscription -->
<arg name="user_data_topic" default="/user_data"/>
@@ -190,6 +191,7 @@
<remap if="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)"/>
<remap unless="$(arg rgbd_sync)" from="rgbd_image" to="$(arg rgbd_topic)_relay"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="imu" to="$(arg imu_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="odom_frame_id" type="string" value="$(arg vo_frame_id)"/>
@@ -227,7 +229,7 @@
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
launch/tests/euroc_datasets.launch
+24 -3
View File
@@ -2,6 +2,12 @@
<param name="use_sim_time" value="true"/>
<arg name="cfg" default=""/>
<arg name="MH_seq" default="false"/> <!-- For MH sequences, the ground truth is coming from a different topic -->
<arg name="rtabmapviz" default="true"/>
<arg name="rviz" default="false"/>
<!-- Image rectification and publishing synchronized camera_info-->
<group ns="stereo_camera">
<node pkg="rtabmap_ros" type="yaml_to_camera_info.py" name="yaml_to_camera_info_left">
@@ -22,21 +28,36 @@
</group>
<node pkg="tf" type="static_transform_publisher" name="camera_base_link" args="0.009811 0.064677 -0.021640 -1.596576 -0.014866 -1.566656 base_link cam0 100"/>
<node pkg="tf" type="static_transform_publisher" name="leica_base_link" args="0.120209 -0.0184772 -0.0748903 0 0 0 leica base_link_gt 100"/>
<!-- TF frames -->
<node pkg="tf" type="static_transform_publisher" name="imu_base_link" args="0 0 0 3.1415926 -1.570796 0 base_link imu4 5"/>
<node pkg="tf" type="static_transform_publisher" name="camera_imu_link" args="-0.021640 -0.064677 0.009811 1.555925 0.025777 0.003757 imu4 cam0 50"/>
<node if="$(arg MH_seq)" pkg="tf" type="static_transform_publisher" name="leica_base_link" args="0.120209 -0.0184772 -0.0748903 0 0 0 leica base_link_gt 100"/>
<node unless="$(arg MH_seq)" pkg="tf" type="static_transform_publisher" name="vicon_base_link" args="0.120209 -0.0184772 -0.0748903 0 0 0 vicon/firefly_sbx/firefly_sbx base_link_gt 100"/>
<node pkg="rtabmap_ros" type="point_to_tf.py" name="point_to_tf">
<node if="$(arg MH_seq)" pkg="rtabmap_ros" type="point_to_tf.py" name="point_to_tf">
<remap from="point" to="/leica/position"/>
<param name="frame_id" value="leica"/>
<param name="fixed_frame_id" value="world"/>
</node>
<node unless="$(arg MH_seq)" pkg="rtabmap_ros" type="transform_to_tf.py" name="transform_to_tf">
<remap from="transform" to="/vicon/firefly_sbx/firefly_sbx"/>
<param name="frame_id" value="world"/>
<param name="child_frame_id" value="vicon/firefly_sbx/firefly_sbx"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="world_to_map" args="0.0 0.0 0.0 0.0 0.0 0.0 /world /map 100" />
<!-- RTAB-Map -->
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start --RGBD/CreateOccupancyGrid false --Rtabmap/DetectionRate 1"/>
<arg name="stereo" value="true"/>
<arg name="frame_id" value="base_link"/>
<arg name="wait_for_transform" value="0.01"/>
<arg name="ground_truth_frame_id" value="world"/>
<arg name="ground_truth_base_frame_id" value="base_link_gt"/>
<arg name="cfg" value="$(arg cfg)"/>
<arg name="imu_topic" value="/imu0"/>
<arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
<arg name="rviz" value="$(arg rviz)"/>
</include>
</launch>